EasyRobot Golang implementation

This repo brings together EasyLocomotion, EasyVision, EasyNetwork concepts and ideas into one big cross platform project.

The biggest idea is that you can develop your algorithms and AI pipelines/graphs on whatever platform(even the cloud!) you wish and then be able to reproduce the same behavior on mobile robot platform (e.g. Raspberry Pi, Nano Pi or even ARM microcontrollers).

NOTE: You still need to keep track of the data types that are being passed around from step to step.

Architecture

Plugin system

In order to register a plugin, you must first import it.

Backend implementations

E.g. OpenCV set of algorithms will operate on gocv.Mat, whilst TF implementation might use appropriate tensors and might need conversions.

With*GoCV methods and steps

These steps/processors operate on gocv.Mat only and require GoCV to build.

With*TF methods and steps

With*TFLite methods and steps

With*Image methods and steps

These steps operate on image.Image only.

Display GIO

This sink will accept either gocv.Mat, image.Image or TF/TFLite tensors depending on build tags.

Contribute

Features

Core

• Metrics
• registrable and optional metrics
• Prometheus
• Logs
• Zero Log as backend
• be able to optimize away the logs (for embedded: build tag logless)
• arbitrary data framework (store)
• interface implementation
• Helper methods for get/set for common types
• unit tests
• benchmarks
• plugin framework
• interface implementation
• unit tests
• benchmarks
• pipeline framework
• generic implementation

• [x] image source
  

• [x] sink
  

• [x] processor
  

• [x] fan in
  

• [x] fan out
  

• [x] frame syncronizer
  

• [x] bridge
  

• unit tests
• benchmarks
• Options marshalling
• save pipeline to json
• load pipeline from json
• pipeline elements referenced by NamedStep interface
• transports
• tcp
• udp
• EasyLocomotion C library

EasyVision

• transforms
• color transform
• mat<->image
• undistort transform
• stereo rectify
• extractors
• features

• [x] ORB
  

• [x] SIFT
  

• [ ] calibration corners
  

• OpenCV DNN
• tensorflow
• tensorflow lite
• algorithms
• monocular odometry
• stereo odometry
• map building
• sinks
• silent OpenCV image consumer
• OpenCV video/image writer
• OpenCV image viewer
• Gio+OpenCV interface
• sources
• OpenCV video/device/image reader
• tools
• read and write video streams
• calibrate mono camera
• calibrate stereo camera
• learn hsv
• pipeline/graph editor/viewer
• standalone pipeline runner

EasyLocomotion

• Locomotion
• Differential drive robot
• Omni wheel robot
• Mechanum wheel robot
• Hexapod
• Quadrupod
• Biped
• FK/IK Solvers
• Native
• gonum
• gorgonia
• Actuators
• PWM motor drivers
• PWM motor drivers with encoder
• Servo motor drivers
• Sensors
• Range sensors

EasyNetwork

• Backend
• Native port from EasyNetwork
• gorgonia
• TFLite
• FF learning
• RN learning
• Q Learning algorithms
• DQN
• PPO

Integrations

• Frontends
• Fyne
• GIO
• OpenCV
• Backend
• Native linear algebra (EasyLocomotion/EasyNetwork ports)
• gonum
• gorgonia
• [ ]
• Simulators
• GoBot
• OpenAI gym
• Webots
• Gazebo
• CopelliaSim
• ISAAC
• Platform